I used to get this (FreeBSD 6.1 days) all the time, the controller
would just lock up almost on a daily basis (and have to wait for the
fsck 4 out of 24 hours in the day).

Anyway, I stopped running 3dmd (or 3dm2 I think it's called now) to
monitor it, and the crashes went away. It's had hundreds of days
uptime since.

I've never been game enough to try newer versions of 3dm, but a
cronjob of tw_cli allows me to monitor it now without the lockups.

Might not be your problem, but it's worth a shot if all else fails.
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